version: 66.12
glider: 401
mission: 20
dive: 385
start: 5 4 117 14 13 2
data:
$ID,401
$MISSION,20
$DIVE,385
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,58
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,4
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,42
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,73414
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,100
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,9
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,35
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2175
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.144318
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044078007
$SEABIRD_T_H,0.00063626393
$SEABIRD_T_I,2.4955199e-05
$SEABIRD_T_J,2.9785231e-06
$SEABIRD_C_G,-9.7071199
$SEABIRD_C_H,1.1284475
$SEABIRD_C_I,-0.0014307383
$SEABIRD_C_J,0.00018278907
$SEABIRD_C_Z,2936.3699
$GPS1,040517,135539,5651.5093,-16440.9551,5,0.8,15,11.2,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-1.2
$GPS2,040517,135539,5651.5093,-16440.9551,5,0.8,15,11.2,0.0,0.0,10,4.6
$SPEED_LIMITS,0.097,0.381
$TGT_NAME,HEADING
$TGT_LATLONG,5649.634,-16421.520
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.375420,-0.071113
$KALMAN_X,-13380.111328,945.096619,1159.900635,75862.507812,85.521912
$KALMAN_Y,33220.902344,751.742737,648.109863,-77342.054688,-10.257751
$MHEAD_RNG_PITCHd_Wd,88.8,20000,-10.5,-9.667,-14.22,7537
$D_GRID,58
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.95,-488.8,2319,2191,2358,4094,0.0,0.0,0,37,0.00,0.00,-3.72,0.000,16390,0.000,0.000,2320,2190,2747,2747,4094,0,0,0,0,0,0,26.12,25.24,26.12,10.09,36.61
$GC,40,-1.95,-488.8,2319,2190,2747,4094,0.1,0.0,1,59,6.03,2.10,0.00,0.000,4612,0.112,0.159,1759,1413,2747,2747,4094,0,0,0,0,0,0,25.52,25.39,25.53,10.17,36.13
$GC,192,-1.95,-488.8,1758,1413,2751,4094,21.6,-16.2,13,211,0.00,1.92,0.00,0.000,1030,0.000,0.122,1759,2156,2751,2751,4094,0,0,0,0,0,0,25.74,25.69,25.77,10.17,36.02
$GC,277,-1.95,-488.8,1758,2156,2753,4095,35.2,-15.5,19,291,0.00,2.17,0.00,0.000,260,0.000,0.241,1759,2926,2754,2754,4094,0,0,0,0,0,0,26.11,25.68,26.12,10.16,36.33
$GC,309,-1.95,-488.8,1758,2926,2754,4095,39.6,-14.7,21,327,0.00,1.95,0.00,0.000,1030,0.000,0.109,1759,2164,2755,2755,4094,0,0,0,0,0,0,25.90,25.87,25.91,10.16,36.45
$GC,396,-1.95,-488.8,1758,2161,2756,4094,52.6,-14.8,27,415,0.00,1.98,0.00,0.000,516,0.000,0.166,1759,1418,2757,2757,4095,0,0,0,0,0,0,26.20,25.82,26.21,10.17,36.33
$STATE,442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,442,begin apogee
$GC,449,-0.56,0.0,1759,2082,2758,4094,59.9,-15.2,30,501,4.88,0.00,29.05,4.494,10244,0.221,0.000,2192,2082,2173,2173,4094,0,0,0,0,0,0,25.87,24.59,23.77,10.17,35.54
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,504,1.95,488.8,2192,2082,2173,4094,64.7,0.0,33,559,8.55,2.10,28.75,4.395,10500,0.117,0.211,2987,2830,1603,1603,4094,0,0,0,0,0,0,25.26,25.18,23.44,10.05,35.54
$GC,588,1.95,488.8,2986,2829,1602,4094,58.3,10.6,38,606,0.00,1.98,0.00,0.000,1030,0.000,0.102,2987,2087,1601,1601,4094,0,0,0,0,0,0,25.18,25.10,25.16,9.94,35.23
$GC,669,1.95,488.8,2986,2086,1599,4094,45.4,15.6,44,688,0.00,2.12,0.00,0.000,516,0.000,0.196,2987,1314,1598,1598,4094,0,0,0,0,0,0,25.64,25.26,25.65,9.94,35.27
$GC,729,1.95,488.8,2986,1313,1597,4094,36.1,15.8,48,747,0.00,1.92,0.00,0.000,1030,0.000,0.109,2987,2058,1596,1596,4094,0,0,0,0,0,0,25.50,25.46,25.53,9.93,34.99
$GC,811,1.95,488.8,2987,2059,1594,4094,24.1,14.1,54,829,0.00,2.15,0.00,0.000,260,0.000,0.211,2987,2827,1594,1594,4094,0,0,0,0,0,0,25.89,25.49,25.90,9.93,35.43
$GC,858,1.95,488.8,2986,2827,1593,4094,17.0,14.6,57,873,0.00,2.03,0.00,0.000,1030,0.000,0.107,2987,2053,1592,1592,4094,0,0,0,0,0,0,25.69,25.65,25.72,9.93,35.31
$GC,937,1.95,488.8,2987,2053,1590,4094,6.0,13.8,63,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2053,1589,1589,4094,0,0,0,0,0,0,26.03,26.05,26.04,9.93,35.39
$STATE,969,end climb,SURFACE_DEPTH_REACHED
$STATE,969,begin surface coast
$FINISH,0.2,1.012341
$STATE,997,end surface coast,CONTROL_FINISHED_OK
$STATE,997,begin surface
$SM_CCo,1095,0.00,0.000,0,0,1589,503.14
$SM_GC,1.10,29.33,0.30,0.00,0.084,0.159,0.000,231,2186,1589,-6.71,-1.09,503.14,0,0,1,0,0,0,25.53,25.82,25.75
$IRIDIUM_FIX,5554.28,-16557.83,040517,131015
$TT8_MAMPS,0.026215,0.245672
$HUMID,35.43
$INTERNAL_PRESSURE,9.85745
$TCM_TEMP,0.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.2,10.1
$24V_AH,23.44,37.417
$10V_AH,8.43,17.615
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,48.775,24.675,57.800,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,251.242,59.981,147.734,659.161,32.943,33.413,402.703,0.000,671.249,0.000,5.452,0.000
$DEVICE_MAMPS,220.987,240.851,4494.230,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,45.292,85.820,144.054,380.233,647.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,344740
$DATA_FILE_SIZE,7348,67
$CAP_FILE_SIZE,22334,17
$CFSIZE,1024409600,999587840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,040517,143209,5651.342,-16440.014,3,0.9,18,11.2,0.0,0.0,9,4.9